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my son and i bought this 2000 m5 with 150k we really enjoy the car but are having the same codes coming back after replacing the both cps and o2 sensors we still have peak codes 16 72 oa of 35 what do we do next? also the car runs like crap after it warms up kinda like it looses a 100 hp please help

The 16 is the table... and is probably "1b"..but you actually need to use 18. (yeah, known issue)

First code is the exhaust vanos control (due to the bad CPS, in my opinion)
Second code is actually 0A... this is the exhaust CPS cyl 5-8
Third I am not sure of, might be the ebox fan.

The first two are causing the driveability issues. Just replace the camshaft position sensor and see what comes back

since you have codes for cyl 5-8 i would recommend disassemble vanos control on right side which is gonna be oil fill cap side. and clean it with parts cleaner. then replace each o-ring that you supply from bmw dealer. be careful with the vanos board during removal. then put it back and check if you have signal after repair hasbeen performed. make sure wiring and connector is in good shape.

since you have codes for cyl 5-8 i would recommend disassemble vanos control on right side which is gonna be oil fill cap side. and clean it with parts cleaner. then replace each o-ring that you supply from bmw dealer. be careful with the vanos board during removal. then put it back and check if you have signal after repair hasbeen performed. make sure wiring and connector is in good shape.

Interesting.

OP has a bad CPS and a vanos control code.

Are you saying you would launch into the repair you recommend PRIOR TO, or CONCURRENT WITH the CPS replacement?

Or would you replace the CPS, drive it, see what happens?

Now, having said that, fouling and leaking of the VANOS solenoids is a common failure mode- and in fact can be 'silent' and trip no codes but still cause issues...but in terms of a sequential diagnostic, you do the obvious (or easiest) first. (Which is the CPS)

Of course there are complete diagnostic posts, cleaning and repair details on that "other forum" such that people really shouldnt rely on posts here for the M5 but rather search there.